Modeling and Identification of a Class of Servomechanism Systems With Stick-Slip Friction

[+] Author and Article Information
Ka C. Cheok, Hongxing Hu, Nan K. Loh

Center for Robotics and Advanced Automation, Oakland University, Rochester, MI 48309

J. Dyn. Sys., Meas., Control 110(3), 324-328 (Sep 01, 1988) (5 pages) doi:10.1115/1.3152689 History: Received June 30, 1987; Online July 21, 2009


This paper describes a technique for modeling and identifying a class of nonlinear servomechanism systems with stick-slip friction. The physics of the stick-slip friction is considered in modeling the process. Identification of the system parameters is formulated as a nonlinear optimization problem. A modified simplex algorithm is proposed as the optimization procedure. The difficulties encountered in choosing identification algorithm and input signals for the problem are discussed. A simulation example of a servomotor system is provided.

Copyright © 1988 by ASME
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